#!/bin/bash

# 配置ROS2 RMW实现和FastDDS参数
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=./src/shm.xml
export RMW_FASTRTPS_USE_QOS_FROM_XML=1  

source install/setup.bash  

echo "已配置ROS2环境变量："
echo "  RMW_IMPLEMENTATION=$RMW_IMPLEMENTATION"
echo "  FASTRTPS_DEFAULT_PROFILES_FILE=$FASTRTPS_DEFAULT_PROFILES_FILE"
echo "  RMW_FASTRTPS_USE_QOS_FROM_XML=$RMW_FASTRTPS_USE_QOS_FROM_XML"
